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There's nothing really stopping people from doing that to human driven trucks either. Besides, if it's 'capacity to make the choice of running someone over' you're after, just have a dude at a control center watching ten different trucks with remote control overrides. Something arguably they would do regardless for many reasons.
I'm more thinking it's a lesser crime to rob a driverless truck. No chance of being shot by a yee-haw Trump trucker while doing so. No need to be armed.
Just slow to a stop in front, open the back, take what you want. It's practically a victimless crime.
I don't think this is likely to happen regardless. Occasionally trucks are raided, though it's rare in the us. More often in some places where there's a lot more instability. But I don't think the reason it's rare in general is 'because there's a human at the wheel', especially not the concern that they may be armed.